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quadruped_locomoton

package for quadruped locomotion

Dependencies

Build Dependencies

  • first build and install kindr

  • build and install RBDL follow instructions in the corresponding floder;

```
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release RBDL_BUILD_ADDON_URDFREADER=TRUE ../
sudo make install
```

then and .cmake file for cmake to find RBDL

```
cd usr/local/lib/cmake
sudo mkdir rbdl
sudo cp RBDLConfig.cmake /usr/local/lib/cmake/rbdl
```
  • git clone other ROS dependence package AND run catkin_make
  • Bugs
    • first build package >>free_gait_msgs
    • then build package sim_assiants in simpledog_simulation

Install

Usage

  • Launch simulation environment

    roslaunch simpledog quadruped_simulation.launch
  • Launch real robot(not fully surpported but can use for motor test)

    roslaunch balance_controller balance_conoller_manager.launch
  • Launch free_gait

    roslaunch free_gait_ros test.launch
  • Start rqt user interface

    roslaunch balance_controller rqt_interface.launch

After these step, there would be a gazebo simulation and a rqt interface.

  • First, move the dog model and place it in the gazebo.
  • Second, refresh the action collections, and send a sitdown action
  • push the switch botton, if the robot move correctly, then it start normally; otherwise, push Back botton, the robot reset to the ground
  • click Trot botton, the robot start torting, click stop, it stops troting, when torting, you can send cmd_vel msg to control the move.
  • control panel in the right bottom can use to switch controller and controll single joint. rqt_free_gait_interface
  • Use Interactive Marker

If use a interactive marker in RVIZ to send a single footstep goal; instead launch the rqt_interface.launch , do: roslaunch simpledog quadruped_interactive_marker.launch

Control Panel

when you launch the file for real robot, you actually connected to some EtherCAT driver, so you can use control panel to control motor via EtherCAT. control_panel

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Develop a quadruped robot locomotion control system

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